Opening/closing body drive device, vehicle door, and vehicle

ABSTRACT

An opening/closing body drive device includes a drive mechanism that moves an opening/closing body between an opening position and a closing position relative to a frame portion having an opening, a control unit for controlling the drive mechanism, a light source unit including a light emitting element emitting a non-visible light and radiating the non-visible light to a detection line formed of a retroreflective material along at least a part of the frame portion, and a camera including an incident lens into which the non-visible light radiated from the light source unit and reflected by the detection line enters. The incident lens is formed non-circular by cutting off an end of the incident lens when viewed in an optical axis direction thereof, and at least a part of the light source unit is arranged in a region where the end is cut off.

TECHNICAL FIELD

This invention relates to an OPENING/CLOSING BODY DRIVE DEVICE, a vehicle door and a vehicle.

BACKGROUND ART

An OPENING/CLOSING BODY DRIVE DEVICE is known which is provided with a drive mechanism that moves an opening/closing body between an opening position and a closing position relative to a frame portion having an opening, and a control unit to control the drive mechanism.

For example, the OPENING/CLOSING BODY DRIVE DEVICE includes an automatic door device for automatically opening/closing a slide type door and a window glass raising/lowering device for a vehicle for automatically raising/lowering the window glass of a vehicle door.

To electrically open/close the opening/closing body such as the slide type door or the window glass, a mechanism to prevent pinching by the opening/closing body is generally provided on the OPENING/CLOSING BODY DRIVE DEVICE.

As such OPENING/CLOSING BODY DRIVE DEVICE, the applicant of the present invention proposes a vehicle glass raising/lowering device that is provided with a camera for imaging a detection line provided along a window frame, and performs a pinching prevention operation for the drive mechanism to prevent pinching by the window glass when the detection line captured in an image by the camera is partially blocked by the foreign object (see e.g., PTL 1).

The vehicle glass raising/lowering device described in PTL 1 is provided with a light source unit having a plurality of light emitting elements that emits infrared radiation toward the detection line, and can detect the foreign object that may be pinched during the night etc., by capturing an image of infrared radiation emitted from the plurality of light emitting elements and reflected by the detection line by the camera arranged in the vicinity of the light source unit.

Further, the vehicle glass raising/lowering device described in PTL 1 partially protrudes a lens into which the reflected light reflected by the detection line enters from a door trim for capturing an image of the entire detection line formed along the window frame by the camera.

CITATION LIST Patent Literature PTL 1: JP 5768202 B1 SUMMARY OF INVENTION Technical Problem

In an OPENING/CLOSING BODY DRIVE DEVICE described in PTL 1, the inventors of the present invention have studied that the detection line is composed of a retroreflective material so as to effectively enter the infrared radiation that is radiated from the plurality of light emitting elements and reflected by the detection line into the lens of the camera. Since incident angle and output angle of the retroreflective material are substantially same, by decreasing the distance between the plurality of light emitting elements and an optical axis of the lens, it is possible to efficiently enter the infrared radiation reflected by the detection line into the lens.

However, even if the distance between the plurality of light emitting elements and the optical axis of the lens is intended to simply reduce, the distance fails to be reduced in shorter than the radius of the lens. That is, there is a limit to close the positions of the plurality of light emitting elements and the optical axis of the lens each other, and the distance between the plurality of light emitting elements and the optical axis of the lens fails to be reduced sufficiently. Thus, the retroreflective material fails to perform the property sufficiently.

When the aperture of the lens is reduced, the positions of the light emitting elements and the optical axis of the lens can be closed. However, in such case, since a light receiving area for receiving the incident light at the lens becomes small, light intensity of the infrared radiation reaching an imaging device (a CMOS image sensor) of the camera decreases. Therefore, it is necessary to increase the number of the light emitting elements arranged or to use a high-output light emitting element in order to secure a desired light intensity. This prevented a reduction in the manufacturing cost.

It is an object of the present invention to provide an OPENING/CLOSING BODY DRIVE DEVICE that can reduce the manufacturing cost by reducing the number of light emitting elements or using a low-output light emitting element, as well as a vehicle door and a vehicle using the OPENING/CLOSING BODY DRIVE DEVICE.

Solution to Problem

An OPENING/CLOSING BODY DRIVE DEVICE according to an embodiment of the present invention comprises:

-   -   a drive mechanism that moves an opening/closing body between an         opening position and a closing position relative to a frame         portion having an opening;     -   a control unit for controlling the drive mechanism;     -   a light source unit comprising a light emitting element emitting         a non-visible light and radiating the non-visible light to a         detection line formed of a retroreflective material along at         least a part of the frame portion; and     -   a camera comprising an incident lens into which the non-visible         light radiated from the light source unit and reflected by the         detection line enters,     -   wherein the control unit comprises a detection means for         detecting a blocked state in which at least a part of the         detection line imaged by the camera is blocked by a foreign         object, and a pinching prevention means that forces the drive         mechanism to perform a pinch prevention operation for preventing         pinching by the opening/closing body when the blocked state is         detected by the detection means while the opening/closing body         is moved by the drive mechanism,     -   wherein the incident lens is formed non-circular by cutting off         an end of the incident lens when viewed in an optical axis         direction thereof, and     -   wherein at least a part of the light source unit is arranged in         a region where the end is cut off.

A vehicle door according to another embodiment of the present invention comprises the OPENING/CLOSING BODY DRIVE DEVICE,

-   -   wherein the opening/closing body is a window glass installed in         a door of an vehicle,     -   wherein the frame portion is a window frame contacting an outer         edge of the window glass in a fully closed state, and     -   wherein the drive mechanism is arranged in the door of the         vehicle and moves the window glass in a vertical direction.

A vehicle according to another embodiment of the present invention comprises the vehicle door.

Advantageous Effects of Invention

According to one embodiment of the present invention, the OPENING/CLOSING BODY DRIVE DEVICE can be provided that can reduce the manufacturing cost by reducing the number of light emitting elements or using a low-output light emitting element, as well as a vehicle door and a vehicle using the OPENING/CLOSING BODY DRIVE DEVICE.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is an explanatory diagram illustrating a schematic configuration of OPENING/CLOSING BODY DRIVE DEVICE in the present embodiment.

FIG. 2 is an explanatory diagram illustrating a door when viewed from the upper side inside a vehicle.

FIG. 3 is an explanatory diagram illustrating the door when viewed from the lower-front side of the vehicle.

FIG. 4A is a cross sectional view illustrating a part of the door along a position where a camera is included.

FIG. 4B is an explanatory diagram illustrating an arrangement position of a camera unit shown in FIG. 4A.

FIG. 5 is an explanatory diagram illustrating an image captured by the camera according to the present embodiment.

FIG. 6A is a cross sectional view illustrating a configuration of a detection line.

FIG. 6B is an explanatory diagram illustrating a microbead type retroreflective material.

FIG. 7A is a front view illustrating a configuration example of the camera.

FIG. 7B is a top view illustrating a configuration example of the camera.

FIG. 7C is a cross sectional view cut along the line A-A in FIG. 7B.

FIG. 8A is a perspective view illustrating a part of a diffusing plate.

FIG. 8B is a cross sectional view cut along the line B-B in FIG. 8A.

FIG. 9 is a graph chart showing the relationship between an observation angle and a brightness of reflected light.

FIG. 10 is a flowchart showing a control flow of the OPENING/CLOSING BODY DRIVE DEVICE.

FIG. 11 is an explanatory diagram illustrating a door when viewed from the upper side inside a vehicle, which indicates an arrangement position of a camera unit according to the variation.

FIG. 12 is a top view illustrating a configuration example of the camera according to the variation.

DESCRIPTION OF EMBODIMENT Embodiments

An embodiment of the invention will be described later in reference to FIGS. 1 to 9.

FIG. 1 is an explanatory diagram illustrating a schematic configuration of OPENING/CLOSING BODY DRIVE DEVICE in the present embodiment.

As shown in FIG. 1, it will be described that the OPENING/CLOSING BODY DRIVE DEVICE 1 is a vehicle window glass raising/lowering device as an example in the present embodiment. However, it is not limited thereto. The opening/closing body device 1 may be a device such as an automatic door that opens and closes a slide type door automatically.

A door 2 of a vehicle (vehicle door) mounting the vehicle window glass raising/lowering device as the OPENING/CLOSING BODY DRIVE DEVICE 1 is provided with a storage portion 21 for housing a window glass 3 as an opening/closing body and a window glass frame portion 22 provided above the storage portion 21. A door trim 23 is attached on the vehicle interior side of the storage portion 21 so as to cover the storage portion 21.

The window glass frame portion 22 is composed of a rear upright portion 22 a extending upwards from an end of the storage portion 21 on the rear side in the front-back direction of the vehicle, a front upright portion 22 b extending upwards from the storage portion 21 on the front side with respect to the rear upright portion 22 a, and an upper extended portion 22 c extending from the top end of the rear upright portion 22 a to the top end of the front upright portion 22 b. When the window glass 3 is fully closed, the window glass 3 is positioned in a space surrounded by the window glass frame portion 22 and the upper edge portion of the door trim 23. That is, a window frame 25 is composed of the window glass frame portion 22 and the upper edge portion of the door trim 23. In the present embodiment, the window frame 25 means a portion that contacts outer edges of the door 2 and the window glass 3 in a fully closed state. The window frame 25 is one embodiment of the frame portion in the present invention.

The OPENING/CLOSING BODY DRIVE DEVICE 1 is provided with a drive mechanism 4 for moving the opening/closing body (the window glass 3) between an opening position and a closing position relative to the frame portion (the window frame 25) having an opening 25 a, and a control unit 5 for controlling the drive mechanism 4.

The drive mechanism 4 is to move the window glass 3 vertically relative to the window frame 25, and is provided with a motor 41 such as DC motor, and a power conversion mechanism 42 for converting a drive force of the motor 41 into power to vertically move the window glass 3. The power conversion mechanism 42 which can be used here is, e.g., a window regulator which is provided with a carrier plate supporting the window glass 3 and slidably moving along a guide rail and is configured to slidably move a wire along the guide rail by a drive force of the motor 41 and thereby to vertically move the carrier plate attached to the wire and the window glass 3 along the guide rail. An X-Arm type or another type of regulator can be also used as the power conversion mechanism 42.

A switch (SW) 24 is provided on the door 2 to raising/lowering the window glass 3. An output signal line of the switch 24 is connected to the control unit 5. The switch 24 is constructed from, e.g., a two-stage click-type rocker switch which is configured to output a signal to the control unit 5, such that a first-level move-down click signal is output when an end on the move-down side is clicked to the first level, a second-level move-down click signal is output when the end on the move-down side is clicked to the second level, a first-level move-up click signal is output when the other end on the move-up side is clicked to the first level, and a second-level move-up click signal is output when the other end on the move-up side is clicked to the second level.

The control unit 5 controls the drive mechanism 4 according to the signal from the switch 24 to vertically move the window glass 3. The control unit 5, as a control unit constructed by appropriately combining CPU, memory, interface and software, etc., is mounted on the door 2. Other than on the door 2, the control unit 5 may alternatively be mounted as a part of, e.g., an electronic control unit (ECU) which controls mirrors or seats of the vehicle.

The control unit 5 is configured to control the drive mechanism 4 such that when a first-level move-down click signal is input from the switch 24, the window glass 3 is lowered during when the signal is being input, and when a second-level move-down click signal is input, the window glass 3 continues to move down until the window glass 3 reaches the bottom or the switch 24 is operated again. Also, the control unit 5 controls the drive mechanism 4 such that when a first-level move-up click signal is input from the switch 24, the window glass 3 is raised during when the signal is being input, and when a second-level move-up click signal is input, the window glass 3 continues to move up until the window glass 3 reaches the top or the switch 24 is operated again.

Next, a configuration to prevent pinching by the opening/closing body (the window glass 3) will be described.

The OPENING/CLOSING BODY DRIVE DEVICE 1 is provided with a light source unit 8 comprising a plurality of light emitting elements 81 which radiates non-visible light to a detection line 6 formed of a retroreflective material along at least a part of the frame portion (the window frame 25), and a camera 7 provided with an incident lens 71 a on which the non-visible light radiated from the light source unit 8 and reflected by the detection line 6 enters. In the present embodiment, the OPENING/CLOSING BODY DRIVE DEVICE 1 determines whether or not a foreign object that may be pinched by the window glass 3 exists based on an image captured by the camera 7.

In the present embodiment, a light source unit that irradiates near infrared radiation is used as the light source unit 8. The camera 7 is constructed from an infrared camera which captures the infrared radiation emitted from the light source unit 8 and reflected by the detection line 6. Since the light source unit 8 is provided, a foreign object to be possibly pinched can be detected also during the night, or in a dark place even in a daytime where infrared radiation does not reach, e.g., in an underground parking, etc. Specific configurations and attachment positions of the camera 7 and the light source unit 8 will be described later.

The detection line 6 is a reference for judging presence/absence of a foreign object to be possibly pinched by the window glass 3, and is provided on the vehicle interior side with respect to the window glass 3 along at least a part of the outer edge of the window glass 3 in closing the door 2 and the window glass 3. A specific configuration and setting position of the detection line 6 will be described later.

The control unit 5 is provided with a detection unit 51 and a pinching prevention unit 52. The detection unit 51, which is one aspect of the detection means of the invention, detects a blocked state in which the detection line 6 captured by the camera 7 is at least partially blocked by a foreign object. The pinching prevention unit 52, which is one aspect of the pinching prevention means of the invention, causes the drive mechanism 4 to perform a pinch prevention operation for preventing pinching by the opening/closing body (the window glass 3) when the blocked state is detected by the detection unit 51 during when the opening/closing body (the window glass 3) is moved by the drive mechanism 4.

The detection unit 51 is provided with an image processing section 51 a which processes an image captured by the camera 7 and extracts the detection line 6, and a blocked state determination section 51 b which determines, based on the image processed by the image processing section 51 a, whether or not it is the blocked state in which the detection line 6 is at least partially blocked by a foreign object.

A specific method of extracting the detection line 6 by the image processing section 51 a is not specifically limited. For example, when an unnecessary portion is removed by trimming the image captured by the camera 7 and posterization process, binarization process, or edge detection process is performed, the detection line 6 with brightness different from surrounding members can be extracted.

The blocked state determination section 51 b is configured such that, for example, an image in a non-blocked state (which is an image after being processed by the image processing section 51 a) is preliminarily stored as an initial state image, and whether or not the detection line 6 is blocked by an foreign object is determined by comparing the initial state image to an image output from the image processing section 51 a. The blocked state determination section 51 b is configured to, e.g., compare the initial state image to an image output from the image processing section 51 a and to determine it is the blocked state when a difference of the edge of the extracted detection line 6 or a difference of the area of the detection line 6 exceeds a preset foreign object determination threshold.

The pinching prevention unit 52 causes the drive mechanism 4 to perform a pinch prevention operation for preventing pinching by the window glass 3 when the blocked state is detected by the detection unit 51 during when the window glass 3 is moved by the drive mechanism 4. The pinch prevention operation includes an operation of stopping movement of the window glass 3, an operation of lowing the window glass 3 to a safe position, an operation of warning an operator by sound or light from an alarm device installed inside the vehicle, and a combination thereof.

The control unit 5 is further provided with a command cancellation unit 53 which cancels a command from the switch 24 when the blocked state is detected by the detection unit 51 after a command to move the window glass 3 is issued from the switch 24 but before the window glass 3 starts to move. Since the command cancellation unit 53 is provided, the window glass 3 does not move during when the blocked state is detected, and safety is thus further improved.

Next, specific configurations, etc., of the camera 7 and the light source unit 8 will be described.

FIG. 2 is an explanatory diagram illustrating the door 2 when viewed from the upper side inside a vehicle. FIG. 3 is an explanatory diagram illustrating the door 2 when viewed from the lower-front side of the vehicle. FIG. 4A is a cross sectional view illustrating a part of the door along the position including the camera 7. FIG. 4B is an explanatory diagram illustrating an arrangement position of the camera unit 110 shown in FIG. 4A.

As shown in FIGS. 2 to 4B, in the OPENING/CLOSING BODY DRIVE DEVICE 1 according to the present embodiment, the camera 7 is provided on an upper surface S of the door trim 23. The upper surface S of the door trim 23 here is an outer surface of the door trim 23 at a top edge portion and is a surface which is visible from above in a vertical direction. The upper surface S of the door trim 23 may be inclined with respect to the vehicle width direction (horizontal direction). The door trim 23 is generally curved such that the upper surface S has the highest portion in the vicinity of the window glass 3, i.e., in the vicinity of an exit slot 21 a allowing the window glass 3 to come out from the storage portion 21, and slopes down as a distance from the window glass 3 increases. Thus, the upper surface S of the door trim 23 is an outer surface of the door trim 23 (a portion corresponding to a lower side inner peripheral edge surface of the window frame 25) in the vicinity of the window glass 3 (the exit slot 21 a).

In the present embodiment, the pinch prevention operation is also performed when the blocked state is detected during when the window glass 3 is moving down. This is to prevent a part of human body such as finger from being dragged into the exit slot 21 a during when the window glass 3 is moving down. A weather strip 30 having a lip seal 30 a slidably in contact with the window glass 3 is provided around the exit slot 21 a to prevent ingress of water, etc., into the storage portion 21 (an internal space of the door 2). When the window glass 3 is lowered, clothing or a part of human body such as finger may be dragged, together with the lip seal 30 a, into the storage portion 21. In the present embodiment, it is possible to prevent such dragging and thereby to further improve safety. Here, an operation of moving down the window glass 3 is not included in the pinch prevention operation which is performed when the blocked state is detected during when the window glass 3 is moving down.

A detection surface 9 described hereinafter is a plane formed by connecting points between the camera 7 and the detection line 6 at which the foreign object when located thereon causes the blocked state. The detection surface 9 is substantially the same as a plane connecting the center of the camera 7 (the center in the vehicle width direction, the height direction, and the front-back direction of the vehicle) to the detection line 6, although depending on a specific configuration of the camera 7. The detection surface 9 does not need to be an entirely continuous plane. For example, when the detection line 6 is not continuous, the detection surface 9 is composed of plural planes. Meanwhile, in case that the detection line 6 is composed of dots, lines are formed when connecting points between the camera 7 and the detection line 6 at which a foreign object when located thereon causes the blocked state, and such lines are also included as the detection surface 9. When the detection surface 9 is composed of plural planes or lines, a distance between adjacent planes or lines is desirably not more than at least a thickness of young child's finger (e.g., 4 mm) to ensure safety.

Next, the positional relationship between the camera 7 and the light source unit 8, and the detection line 6 etc., will be described.

As shown in FIG. 4A, the trim opening 23 a is formed on the vehicle interior side with respect to the exit slot 21 a, and the camera 7 is arranged on the vehicle interior side with respect to the exit slot 21 a. Further, as shown in FIG. 4B, when the detection line 6 is formed only on the front upright portion 22 b and the upper extended portion 22 c, almost the entire window frame 25 can be in range of detection along the entire detection line 6 by arranging the camera unit 110 in the vicinity of the rear upright portion 22 a on the upper surface S of the door trim 23.

When an angle (an observation angle) between the light source unit 8 and the optical axis of the camera 7 with respect to the detection line is expressed as 0, as shown in FIG. 9, as the observation angle θ increases, the brightness generally decreases. In addition, as the distance between the light source unit 8 and the camera unit 110 decreases, the value 0 of the observation angle decreases over the entire detection line 6. In the present embodiment, when expressing distance between the camera unit 110 and the light source unit 8 as L, the observation angle is configured to be 1.5° when the distance L is, e. g., 7.85 mm Specification about the distance L will be described later.

Also, as not shown, when the detection line 6 is formed only on the rear upright portion 22 a and the upper extended portion 22 c, almost the entire window frame 25 can be in the range of detection along the entire detection line 6 by arranging the camera unit 110 in the vicinity of the front upright portion 22 b on the upper surface S of the door trim 23. One example of the image captured by the camera 7 will be shown in FIG. 5. Next, a specific configuration etc., of the detection line 6 will be described.

The detection line 6 is formed along at least a part of the outer edge of the window glass 3 in closing the door 2 and the window glass 3. The detection line 6 is provided on the vehicle interior side with respect to the window glass 3. In the present embodiment, the detection line 6 is provided along the entire frame portion 22 on the vehicle interior side at a distance from the window glass 3.

The detection line 6 may be provided on either the door 2 side or the vehicle body side as long as it is provided along the window frame 25. Further, the detection line 6 may not be continuous, and can be provided partially on the door 2 and partially on the vehicle body.

In the present embodiment, the detection line 6 provided on the door 2 side will be described as an example. In this case, the detection line 6 is provided on the inner circumferential surface of the entire window glass frame portion 22, i.e., the inner circumferential surfaces of all the rear upright portion 22 a, the front upright portion 22 b, and the upper extended portion 22 c, on the vehicle interior side at a distance from the window glass 3. The inner circumferential surface of the window glass frame portion 22 here is a surface of the window glass frame portion 22 facing the window glass 3 and is composed of a surface of the rear upright portion 22 a on the front side of the vehicle, a surface of the front upright portion 22 b on the rear side of the vehicle, and a surface of the upper extended portion 22 c on the lower side. In other words, the inner circumferential surface of the frame portion 22 is an outer surface of the frame portion 22 in the vicinity of the window glass 3.

As shown in FIGS. 6A, 6B, in the present embodiment, the detection line 6 is provided with a reflection layer 61 formed of a microbead type retroreflective material, a visible light cutting layer 62 cutting the visible light, which is formed on an non-visible light entering side of the reflection layer 61, and a weatherproof layer 63 formed on the non-visible light entering side of the visible light cutting layer 62.

The retroreflective material reflects incident light to the direction for the light source unit. A microbead type retroreflective material using tiny glass beads (microbeads) and a prism type retroreflective material using a tiny prism on a triangular pyramid are known. Among them, since the prism type retroreflective material is expensive, in the present embodiment, the microbead type retroreflective material is used for the detection line 6.

For example, the reflection material layer 61 a comprises metals such as aluminum. The reflection layer is formed by aluminum evaporating to a number of glass beads 61 b, and the visible light cutting layer 62.

As shown in FIG. 6B, the light entered into the glass beads 6 inflects at the surface of the glass beads 61 b, reflects at the reflection material layer 61 a, inflects again at the surface of the glass beads 61 b, and the reflected light outputs in an inputting direction. Thus, angles of incident and reflection of the light are substantially equal. In other words, in the present embodiment, the non-visible light (near infrared radiation) entered into the detection line 6 from the light source unit 8 is reflected toward the light source unit 8 side.

The visible light cutting layer 62 is to prevent the visible light from reflecting by the reflection layer 61 by cutting the visible light such that driver does not feel too bright. For example, as the visible light cutting layer 62, an acrylic resin can be used.

For example, the weatherproof layer 63 is composed of polyethylene terephthalate (PET) or acrylic resin and is to protect the visible light cutting layer 62 and the reflection layer 61. In the present embodiment, the surface of the weatherproof layer 63 has matte to prevent the visible light from reflecting on the surface of the weatherproof layer 63. For example, matte processing on the surface of the weatherproof layer 63 can be carried out by sand blasting.

The configuration of the camera 7 according to the present embodiment will be described with reference to FIGS. 7A to 8B. FIG. 7A is a front view illustrating a configuration example of the camera 7 with viewed along the vehicle width direction. FIG. 7B is a top view illustrating the camera 7. FIG. 7C is a cross sectional view of FIG. 7B cut along the line A-A. FIG. 8A is a perspective view illustrating a part of a diffusing plate 83. FIG. 8B is a cross sectional view of FIG. 8A cut along the line B-B.

As shown in FIGS. 7A to 7C, the camera 7 is fixed on a circuit board 100 on which the light emitting elements 81 of the light source unit 8 described later are mounted, and is provided with an optical system 71 into which the non-visible light (near infrared radiation) emitted from the light source unit 8 and reflected by the detection line 6 enters, an image pickup device 72 onto which a subject image is focused by the optical system 71, a lens barrel 73 holding the incident lens 71 a and condenser lenses 71 b to 71 d, and a mount 74 to hold the optical system 71 and the lens barrel 73 on the circuit board 100. Further, the optical system 71 is arranged at a position corresponding to a trim opening 23 a formed on the upper surface S of the door trim 23 (shown in FIGS. 4A, 4B) so that an optical axis C of the optical system 71 passes through the trim opening 23 a.

As shown in FIG. 7C, the optical system 71 is configured to include a single incident lens 71 a that directly enters light, and a plurality of condenser lenses 71 b to 71 d that condenses light transmitted through the incident lens 71 a onto the image pickup device 72. The incident lens 71 a is arranged at a position closest to the detection line 6 in the direction along the optical axis C among the plurality of lenses configuring the optical system 71. An incident surface 710 of the optical system 71 is exposed from the upper surface S of the door trim 23.

The trim opening 23 a is formed on the vehicle interior side with respect to the exit slot 21 a, and the optical system 71 of the camera 7 is arranged so that the optical axis C is located on the vehicle interior side with respect to the exit slot 21 a. Although the camera 7 in this example is arranged so that the optical axis C of the optical system 71 coincides with the vertical direction when viewed in the cross section in FIG. 4A, the optical axis C of the optical system 71 may be inclined with respect to the vertical direction in the front-back direction of the vehicle or in the vehicle width direction, and can be appropriately adjusted according to the installed position or desired imaging range of the camera 7.

In the present embodiment, the camera 7 is arranged in a hole 23 b provided on the upper surface S of the door trim 23 at the rear side position of the vehicle (at the rear side position of the upper surface S of the door trim 23 on a side facing the window glass 3). Although the case that the camera 7 is arranged on the upper surface S of the door trim 23 is described as one example, the position of providing the camera 7 is not limited thereto.

The camera 7 is inserted into the hole 23 b from above the door trim 23 and is fixed to the door trim 23 by engaging a locking pawl 23 d provided at a lower circumferential edge of the hole 23 b with a groove (not shown) provided on the camera 7. Although the top end face of the lens barrel 73 of the camera 7 coincides with the upper surface S of the door trim 23 in this example, the top end face of the lens barrel 73 of the camera 7 may protrude upward from the upper surface S of the door trim 23 or may be located below the upper surface S of the door trim 23. In addition, although the camera 7 in this example is arranged so that a part of the incident lens 71 a is located above the trim opening 23 a, the camera 7 may be arranged so that the optical system 71 is located below the trim opening 23 a. In addition, the configuration for fixing the camera 7 to the door trim 23 and the direction to insert the camera 7 are not specifically limited and can be appropriately changed.

The camera 7 is desirably configured so that the imaging range (a viewing angle) thereof covers the entire moving area of the window glass 3. In detail, in case that the window glass 3 is configured to be completely retracted, the viewing angle of the camera 7 desirably covers the range from the upper end of the rear upright portion 22 a to the lower end of the rear upright portion 22 a on the rear side of the vehicle, and from the upper end of the front upright portion 22 b to the lower end of the front upright portion 22 b on the front end of the vehicle. Meanwhile, in case that the window glass 3 is configured to not be completely retracted, the viewing angle of the camera 7 desirably covers the range from the upper end of the rear upright portion 22 a to an intersection formed between the rear upright portion 22 a and the upper edge (upper rim) of the window glass 3 which is located at the lowest position, and the range on the front side of the vehicle from the upper end of the front upright portion 22 b to an intersection formed between the front upright portion 22 b and the upper edge (upper rim) of the window glass 3 which is located at the lowest position.

It is desirable to use a wide-angle lens as the optical system 71 of the camera 7 so that a foreign object can be detected in the range described above. The optical system 71 used in this example is formed by combining the incident lens 71 a and the condenser lenses 71 b to 71 d so as to have a viewing range of not less than 180°, or 190° taking into account the installation precision, in the front-back direction of the vehicle. Meanwhile, the numbers of the incident lens 71 a and the conductor lenses 71 b to 71 d are not limited thereto and specific configurations of respective incident lens 71 a and the conductor lenses 71 b to 71 d are not limited to thereof shown in drawings.

To quickly detect the foreign object, the frame rate of the image pickup device 72 used is desirably as high as possible. In the present embodiment, a CMOS (Complementary MOS) image sensor is used as the image pickup device 72. The image pickup device 72 is mounted on the circuit board 100.

In the present embodiment, the light source unit 8 is provided with a plurality of (four in the present embodiment) light emitting elements 81 emitting non-visible light (near infrared radiation), which is mounted on the circuit board 100, a light guide member 82 to guide the non-visible light (near infrared radiation) emitted from the light emitting element 81, a diffusing plate 83 as a light diffusing member to diffuse and emit the non-visible light (near infrared radiation) emitted from the light emitting element 81 through the light guide member 82 in a direction along the detection line 6, and a holding member 84 which is arranged between the light emitting element 81 and the light guide member 82, and holds the light guide member 82 to the circuit board 100.

In the present embodiment, the camera unit 110 is integrally constituted by the light source unit 8 and the camera 7. By configuring the camera unit 110, it is easy to attach the camera 7 and the light source unit 8.

As shown in FIG. 7A, the four light emitting elements 81 are arranged along the longitudinal direction (front-rear direction of the vehicle) of the detection line 6 when viewed from the camera 7, and are configured to irradiate the entire detection line 6. Although the light source unit 8 is configured to irradiate non-visible light (near infrared radiation) to the detection line set at an entire inner peripheral surface of the window glass frame portion 22 by using the four light emitting elements 81, the number of the light emitting elements 81 is not limited thereto. For example, the light source unit 8 may be provided with two or six light emitting elements 81. For example, the light emitting element 81 is provided with a light emitting diode.

The incident surface 710 of the incident lens 71 a is convexly curved toward the detection line 6 (shown in FIGS. 4A, 4 B) in the direction along the optical axis C.

The light guide member 82 guides the non-visible light (near infrared radiation) from the light emitting element 81 mounted on the circuit board 100 to the diffusing plate 83. For example, the light guide member 82 is provided with an optical waveguide or an optical fiber. The light guide member 82 is arranged between the light emitting element 81 and the diffusing plate 83. The light guide member 82 at least partially extends in a direction orthogonal to the circuit board 100.

The holding member 84 is provided with a covering portion 840 covering the light emitting element 81, and one pair of column portions 841, 842 connecting the covering portion 840 with the circuit board 100, which extends along an arrangement direction of the four light emitting elements 81 (front-rear direction of the vehicle). In addition, an insertion hole 840 a is formed in the covering portion 840 of the holding member 84, and an end of the light guide member 82 is inserted into the insertion hole 840 a.

As shown in FIG. 7B, the incident lens 71 a is substantially rectangular shape when viewed along the optical axis C. A long side in a longitudinal direction of the incident lens 71 a is linear, and a short side in a transverse direction of the incident lens 71 a is convexly curved with a predetermined curvature. More specifically, when a point where the optical axis C of the incident lens 71 a intersects the incident surface 710 when the camera 7 is viewed along the optical axis C is expressed as a center point O, the incident lens 71 a has a non-circular shape in which both ends in the direction orthogonal to the longitudinal direction of the detection line 6 viewed from the camera 7 are cut out from a virtual circle S (indicated by a two-dot chain line) of which a distance R from the center point O to the short side is set as the radius. Meanwhile, the shape of the incident lens 71 a is not limited thereto. At least one end of the incident lens 71 a where the light source unit 8 is arranged may be cut out.

When the diameter of the virtual circle S described above is expressed as D, the width in the transverse direction of the incident lens 71 a of the camera 7 is expressed as T, and the distance between the incident lens 71 a and the diffusing plate 83 (the distance between a virtual line P1 that is parallel to the longitudinal direction of the incident lens 71 a and passes through the center point O, and a virtual line P2 that is parallel to the virtual line P1 and passes through a midpoint M in the short direction of the diffusing plate 83) is expressed as L, e.g., the width T is 5.7 mm and the distance L is 7.85 mm where the diameter D is 23.5 mm

The diffusing plate 83 has an substantially rectangular shape extended along the longitudinal direction of the incident lens 71 a when viewed along the optical axis C. The diffusing plate 83 is arranged at a position where the incident lens 71 a is cut out. In addition, the diffusing plate 83 is arranged at a position adjacent to the incident lens 71 a in the direction perpendicular to the circuit board 100 in the transverse direction (vehicle width direction). Furthermore, the diffusing plate 83 is held on the circuit board 100 by a holder (not shown).

As shown in FIG. 8A, the diffusing plate 83 is provided with a tabular base 830, and a plurality of protrusions 831 protruded from an opposite side plane surface 830 a to a surface opposite to the light emitting element 81 on the base 830 (a surface facing the detection line 6 side). A plurality of protrusions 831 is extended along the transverse direction of the base 830, and is arranged along the longitudinal direction. As shown in FIG. 8B, the diffusing plate 83 diffuses the non-visible light (near infrared rays) from the light emitting element 81 received through the light guide member 82 along the longitudinal direction of the diffusing plate 83 by the plurality of protrusions 831. That is, the diffusing plate 83 is configured to diffuse the light emitted from the light emitting element 81 in the direction along the detection line 6.

In the present embodiment, although the diffusing plate 83 of the light source unit 8 is arranged at a cut out portion in the incident lens 71 a, it is not limited thereto. The light source unit 8 may be at least partially arranged in the cut out portion. That is, e.g., the light emitting element 81 or the diffusing plate 83 of the light source unit 8 may be partially arranged so as to overlap the incident lens 71 a when viewed along the optical axis C. Alternatively, the light emitting element 81 of the light source unit 8 may be arranged at the cut out portion in the incident lens 71 a.

According to the configuration of the camera 7 described above, e.g., it is possible to decrease the distance between the diffusing plate 83 of the light source unit 8 and the incident lens 71 a compared to a case where the incident lens 71 a has a circular shape. Therefore, the observation angle θ can be reduced, and decreasing brightness received in the image pickup device 72 is prevented. That is, it is possible to reduce a number of arranged light emitting elements 81 necessary to obtain a predetermined brightness.

Next, a control flow of the OPENING/CLOSING BODY DRIVE DEVICE 1 will be described.

As shown in FIG. 10, the OPENING/CLOSING BODY DRIVE DEVICE 1 is configured such that the control unit 5 firstly judges whether or not a signal is input from the switch 24 at Step S1. If judged as NO at Step S1, the control unit 5 controls the camera 7 and the light source unit 8 to be turned off (or kept in the off-state) at Step S2 and the flow is allowed to return to Step S1.

If judged as YES at Step S1, the control unit 5 controls the camera 7 and light source unit 8 to be turned on (or kept in the on-state) at Step S3 and the flow is allowed to proceed to Step S4.

At Step S4, the detection unit 51 (i.e., the image processing section 51 a and the blocked state determination section 51 b) performs a processing of detecting the blocked state (i.e., a blocked state detection processing) based on the image captured by the camera 7. After that, at Step S5, the command cancellation unit 53 judges whether or not the blocked state is detected by the detection unit 51.

If judged as YES at Step S5, the command cancellation unit 53 determines that there is a risk of being pinched by the window glass 3 and the flow is allowed to return to Step S1 without moving the window glass 3 (i.e., the signal from the switch 24 is cancelled).

If judged as NO at Step S5, the control unit 5 judges whether or not the signal input from the switch 24 is a first-level click signal (a first-level move-down click signal or a first-level move-up click signal) at Step S6.

If judged as YES at Step S6, the control unit 5 instructs the drive mechanism 4 to control the movement of the window glass 3 at Step S7.

After that, at Step S8, the detection unit 51 performs a processing of detecting the blocked state (i.e., a blocked state detection processing) based on the image captured by the camera 7. After that, at Step S9, the pinching prevention unit 52 judges whether or not the blocked state is detected by the detection unit 51.

If judged as YES at Step S9, there is a risk of being pinched by the window glass 3. Accordingly, the pinching prevention unit 52 performs a pinch prevention operation such as halting the movement of the window glass 3 or lowering the window glass 3 to the safe position at Step S10. After that, the control unit 5 terminates the movement of the window glass 3 at Step S18 and the flow is allowed to return to Step S2. As describe above, in the present embodiment, if the blocked state is detected while the first-level click signal is being input from the switch 24, the movement of the window glass 3 is terminated after performing the pinch prevention operation.

If judged as NO at Step S9, there is no risk of being pinched by the window glass 3. Accordingly, the control unit 5 judges whether or not a signal is input from the switch 24 at Step S11. If judged as NO at Step S11, this means that an operation on the switch 24 is finished. Accordingly, the control unit 5 terminates the movement of the window glass 3 at Step S18 and the flow is allowed to return to Step S2. If judged as YES at Step S11, the flow is allowed to return to Step S6 and the window glass 3 is kept moving.

On the other hand, if judged as NO at Step S6, i.e., if a second-level click signal (a second-level move-down click signal or a second-level move-up click signal) is input from the switch 24, the control unit 5 instructs the drive mechanism 4 to control the movement of the window glass 3 at Step S12.

After that, at Step S13, the detection unit 51 performs a processing of detecting the blocked state (i.e., a blocked state detection processing) based on the image captured by the camera 7. After that, at Step S14, the pinching prevention unit 52 judges whether or not the blocked state is detected by the detection unit 51.

If judged as YES at Step S14, there is a risk of being pinched by the window glass 3. Accordingly, the pinching prevention unit 52 performs a pinch prevention operation at Step S15. After that, the movement of the window glass 3 is terminated at Step S18 and the flow is allowed to return to Step S2. In other words, in the present embodiment, if the second-level click signal is input from the switch 24 and the blocked state is detected during when the window glass 3 is moving, the movement of the window glass 3 is terminated after performing the pinch prevention operation.

If judged as NO at Step S14, there is no risk of being pinched by the window glass 3.

Accordingly, the control unit 5 judges whether or not the window glass 3 is moved to an edge (to the top or bottom end) at Step S16. If judge as YES at Step S16, the control unit 5 terminates the movement of the window glass 3 at Step S18 and the flow is allowed to return to Step S2. Meanwhile, the positional information of the window glass 3 may be obtained by using a rotational pulse generated by a Hall IC incorporated in the motor 41, or using current ripple.

If judged as NO at Step S16, it is judged whether or not a new signal is input from the switch 24 (i.e., whether or not a new signal is input after the second-level click signal is input) at Step S17. If judged as YES at Step S17, the flow is allowed to return to Step S6.

If judged as NO at Step S17, the flow is allowed to return to Step S12 and the window glass 3 is kept moving. That is, if the second-level click signal is input, the window glass 3 is kept moving until the blocked state is detected, the window glass 3 is moved to an edge, or a new signal is input from the switch 24.

Operation and Effect of the Embodiment

As described above, in the OPENING/CLOSING BODY DRIVE DEVICE 1 according to the present embodiment, the detection line 6 is formed of the microbead type retroreflective material. The incident lens 71 a of the camera 7 is formed in a non-circular shape in which both ends in a radial direction of the circular lens are partially cut out. The diffusing plate 83 of the light source unit 8 is arranged at the notched part of the incident lens 71 a.

With such configuration, it is possible to reduce the distance between the light source unit 8 and the optical axis C of the incident lens 71 a of the camera 7 without reducing a substantial aperture of the incident lens 71 a. Thus, an arranging quantity of the light emitting elements 81 can be minimized, or the light source unit 8 can be composed of low cost light emitting elements having low brightness since reducing light intensity can be controlled when light that is radiated from the light source unit 8 and reflected from the detection line 6 formed of the retroreflective material enters into the incident lens 7 a of the camera 7.

More specifically, e.g., the distance between the light source unit 8 and the optical axis C of the incident lens 71 a of the camera 7 increases compared to the present embodiment when a circular incident lens is used. Accordingly, since the circular incident lens has large observation angle, reducing the brightness can be prevented by increasing the arranging quantity of the light emitting elements 81 or using the high brightness element as the light emitting element 81. Meanwhile, manufacturing cost increases. However, according to the present embodiment, the observation angle can be reduced by reducing the distance between the light source unit 8 and the optical axis C of the incident lens 71 a of the camera 7. As a result, the arranging quantity of the light emitting elements to fulfill a predetermined brightness value can be minimized Thus, increasing cost according to the light emitting element 81 described above can be controlled. That is, manufacturing cost can be reduced. Furthermore, the camera 7 can detect non-visible light having enough light intensity while cost reduced by using relatively inexpensive microbead type retroreflective material for the detection line 6. As a result, it is possible to realize the OPENING/CLOSING BODY DRIVE DEVICE 1 capable of surely detecting a foreign object that may be pinched while controlling the cost.

Next, a variation will be described with reference to FIGS. 11, 12. FIG. 11 is an explanatory diagram illustrating the door 2 when viewed from the upper side inside a vehicle, which indicates an arrangement position of the camera unit 110 according to the variation. FIG. 12 is a top view illustrating a configuration example of the camera 7 according to the variation when viewed from a direction along the optical axis C The OPENING/CLOSING BODY DRIVE DEVICE according to the variation is configured in the same manner as the OPENING/CLOSING BODY DRIVE DEVICE according to the present embodiment except that a configuration of a light source unit is different from the light source unit 8 according to the present embodiment. In FIGS. 11, 12, the same reference numerals are assigned to the elements having substantially common functions with the device described in the present embodiment and the redundant description thereof is omitted. In FIG. 12, the vertical direction is the vehicle width direction, and the left-right direction is the vehicle front-rear direction.

As shown in FIG. 11, the camera unit 110 according to the variation is arranged at the upper surface S of the door trim 23 in the vicinity of the front upright portion 22 b and configured such that almost the entire window frame 25 is within a range of detection along the entire detection line 6. Furthermore, in the variation, the detection line 6 may be formed only on the rear upright portion 22 a and the upper extended portion 22 c.

As shown in FIG. 12, the shape of the incident lens 71A of the camera 7 according to the variation is different from the shape of the incident lens 71 a according to the present embodiment. Thus, arrangements of the light guide member 82, the diffusing plate 83, and the holding member 84 are different in accordance with the shape difference.

More specifically, the incident lens 71A according to the variation has a semicircular shape in which an end in the longitudinal direction of the detection line 6 in the upper extended portion 22 c viewed from the camera 7 is cut out. The diffusing plate 83 of the light source unit 8 according to the variation extends in a direction orthogonal to the longitudinal direction of the detection line 6 and is arranged at a notched part of the incident lens 71A.

The light guide member 82 according to the variation leads non-visible light (near infrared radiation) from the light emitting element 81 mounted on the circuit board 100 to the diffusing plate 83. For example, the light guide member 82 according to the variation is provided with an optical waveguide and an optical fiber. The light guide member 82 is arranged between the light emitting element 81 and the diffusing plate 83. The light guide member 82 at least partially extends in a direction orthogonal to the circuit board 100. The holding member 84 according to the variation has a covering portion 840 extended along the longitudinal direction of the diffusing plate 83. The covering portion 840 covers the plurality of light emitting elements 81. The light emitting elements 81 are arranged along the longitudinal direction of the covering portion 840. However, the arrangement direction of the light emitting elements 81 is not limited thereto. For example, the light emitting elements may be arranged along the direction of the detection line. In such case, the covering portion 840 of the holding member 84 may be configured to extend along the longitudinal direction of the detection line 6.

In the configured variation described above, the distance between the light source unit 8 and the optical axis C of the incident lens 71A of the camera 7 can decrease without reducing the substantial aperture of the incident lens 71A. Thus, the same effects as those of the present embodiment can be obtained.

Although the embodiments of the invention have been described, the invention according to claims is not to be limited to the above-mentioned embodiment. It should be noted that all combinations of the features described in the embodiments are not necessary to solve the problem of the invention. Further, the invention can be appropriately modified and implemented without departing from the gist thereof.

For example, although not mentioned in the above embodiment, the OPENING/CLOSING BODY DRIVE DEVICE 1 may be provided with a safety device to perform various safety actions such as determining that pinching the foreign object is carried out by the window glass 3, and reversing moving direction of the window glass 3 and automatically lowering when load increases in lifting the window glass 3 and rotation speed of the motor 41 decreases while monitoring the rotation speed of the motor 41.

Further, in the above-described embodiment, although the case to which the door 2 on the rear side of the vehicle is applied has been described, the present invention is not limited thereto. The present invention is also applicable to the door on the front side of the vehicle.

Further, in the above-described embodiment, although the case to which the door 2 having the window glass frame portion 22 is applied has been described, the present invention is applicable to a hardtop door having no window glass frame portion 22 to a door 2 side.

Furthermore, the OPENING/CLOSING BODY DRIVE DEVICE 1 of the present invention is not limited to the vehicle window glass raising/lowering device which automatically raises and lowers the window glass 3 of the door 2 of the vehicle. It is applicable to various devices that moves an opening/closing body between the opening position and the closing position relative to a frame portion having an opening.

Furthermore, in the above-described embodiment, although the light source unit 8 is provided with the light guide member 82 that guides non-visible light (near infrared radiation) from the light emitting element 81 mounted on the circuit board 100 to the diffusing plate 83, the light guide member 82 is not an indispensable component, and may not be provided. In such case, the light emitting element 81 may be arranged directly below the diffusing plate 83 so that the non-visible light emitted from the light emitting element 81 directly enters into the diffusing plate 83.

Furthermore, in the above-described embodiment, since an imaging target of the camera 7 is the detection line 6 provided along the window frame of the vehicle and the vicinity along the detection line 6, e.g., the range of the imaging target of the detection line 6 is small compared to a system such as a conventional ingress monitoring system of which the imaging target of the camera 7 is wide. Thus, as with the camera unit 110 according to the present embodiment, it is preferable to have a configuration for arranging the diffusing plate 83 at an overlapped position with the incident lens 71 a when viewed from the opening 25 a.

Furthermore, in the above-described embodiment, as shown in FIG. 4A, although the light source unit 8 is arranged at the vehicle exterior side with respect to the camera 7, the arrangement position is not limited thereto. The light source unit 8 may be arranged at the vehicle interior side with respect to the camera 7.

REFERENCE SIGNS LIST

-   1 OPENING/CLOSING BODY DRIVE DEVICE -   3 WINDOW GLASS (OPENING/CLOSING BODY) -   4 DRIVE MECHANISM -   5 CONTROL UNIT -   51 DETECTION UNIT (DETECTION MEANS) -   52 PINCHING PREVENTION UNIT (PINCHING PREVENTION MEANS) -   6 DETECTION LINE -   7 CAMERA -   71 a, 71A INCIDENT LENS -   8 LIGHT SOURCE UNIT -   81 LIGHT EMITTING ELEMENT -   82 LIGHT GUIDE MEMBER -   83 DIFFUSING PLATE -   25 WINDOW FRAME (FRAME PORTION) 

1. An opening/closing body drive device, comprising: a drive mechanism that moves an opening/closing body between an opening position and a closing position relative to a frame portion having an opening; a control unit for controlling the drive mechanism; a light source unit comprising a light emitting element emitting a non-visible light and radiating the non-visible light to a detection line formed of a retroreflective material along at least a part of the frame portion; and a camera comprising an incident lens into which the non-visible light radiated from the light source unit and reflected by the detection line enters, wherein the control unit comprises a detection means for detecting a blocked state in which at least a part of the detection line imaged by the camera is blocked by a foreign object, and a pinching prevention means that forces the drive mechanism to perform a pinch prevention operation for preventing pinching by the opening/closing body when the blocked state is detected by the detection means while the opening/closing body is moved by the drive mechanism, wherein the incident lens is formed non-circular by cutting off an end of the incident lens when viewed in an optical axis direction thereof, and wherein at least a part of the light source unit is arranged in a region where the end is cut off.
 2. The opening/closing body drive device according to claim 1, wherein at least one end of the incident lens is cut off in a direction orthogonal to a longitudinal direction of the detection line viewed from the camera.
 3. The opening/closing body drive device according to claim 1, wherein the light source unit comprises a light diffusing member to diffuse light emitted from the light emitting element in a direction along the detection line, and wherein the light diffusing member is arranged in the region where the end is cut off.
 4. The opening/closing body drive device according to claim 3, wherein the camera is fixed to a substrate on which the light emitting element is mounted, and wherein the light source unit comprises a light guide member to guide light emitted from the light source unit to the light diffusing member.
 5. A vehicle door comprising the opening/closing body drive device according to claim 1, wherein the opening/closing body is a window glass installed in a door of an vehicle, wherein the frame portion is a window frame contacting an outer edge of the window glass in a fully closed state, and wherein the drive mechanism is arranged in the door of the vehicle and moves the window glass in a vertical direction.
 6. A vehicle comprising the vehicle door according to claim
 5. 7. The opening/closing body drive device according to claim 2, wherein the light source unit comprises a light diffusing member to diffuse light emitted from the light emitting element in a direction along the detection line, and wherein the light diffusing member is arranged in the region where the end is cut off.
 8. A vehicle door comprising the opening/closing body drive device according to claim 2, wherein the opening/closing body is a window glass installed in a door of an vehicle, wherein the frame portion is a window frame contacting an outer edge of the window glass in a fully closed state, and wherein the drive mechanism is arranged in the door of the vehicle and moves the window glass in a vertical direction.
 9. A vehicle door comprising the opening/closing body drive device according to claim 3, wherein the opening/closing body is a window glass installed in a door of an vehicle, wherein the frame portion is a window frame contacting an outer edge of the window glass in a fully closed state, and wherein the drive mechanism is arranged in the door of the vehicle and moves the window glass in a vertical direction.
 10. A vehicle door comprising the opening/closing body drive device according to claim 4, wherein the opening/closing body is a window glass installed in a door of an vehicle, wherein the frame portion is a window frame contacting an outer edge of the window glass in a fully closed state, and wherein the drive mechanism is arranged in the door of the vehicle and moves the window glass in a vertical direction. 